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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: Aiming at the limitations of existing automatic welding equipment for all positions of pipelines, which have restricted freedom and are unable to replicate the advanced techniques employed by skilled welders, a full-position welding robot for pipelines based on collaborative robotic arms was designed to enhance the welding quality and overcome the challenges faced during the welding process. Firstly, the structural characteristics of the welding robot were carefully analyzed in order to achieve modularization, the functional modules of the robot were divided into four parts: flexible guide rails, walking chassis, sixaxis collaborative manipulator arms, and quick lock mechanisms between modules. Then, according to the D-H method, the kinematic equation was established, and the modeling and kinematic simulation of the welding robot were completed by combining Robotic Toolbox and MATLAB. Finally, the Monte Carlo method was used to visualize the working space of the welding robot. The research results indicate that a collaborative robotic armbased pipeline welding robot can complete the welding task with a pipe wall thickness of 755mm and a weld width of 310mm, and the kinematic model is correct and the structural design is reasonable. It can meet the functional requirements for adjusting the welding gun posture for full-position welding of pipelines.
Key words: full-position welding robot; collaborative robotic arms; pipe welding quality; structural design; kinematics simulation; workspace validation; Denavit-Hartenberg (D-H) method
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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- CSA: T Indexed
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- UPD:Indexed
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2010 Zhejiang Information Institute of Mechinery Industry
Technical Support：Hangzhou Bory science and technology
